Abstract: In this paper, a heuristic method for simultaneous
rescue robot path-planning and mission scheduling is introduced
based on project management techniques, multi criteria decision
making and artificial potential fields path-planning. Groups of
injured people are trapped in a disastrous situation. These people are
categorized into several groups based on the severity of their
situation. A rescue robot, whose ultimate objective is reaching
injured groups and providing preliminary aid for them through a path
with minimum risk, has to perform certain tasks on its way towards
targets before the arrival of rescue team. A decision value is assigned
to each target based on the whole degree of satisfaction of the criteria
and duties of the robot toward the target and the importance of
rescuing each target based on their category and the number of
injured people. The resulted decision value defines the strength of the
attractive potential field of each target. Dangerous environmental
parameters are defined as obstacles whose risk determines the
strength of the repulsive potential field of each obstacle. Moreover,
negative and positive energies are assigned to the targets and
obstacles, which are variable with respects to the factors involved.
The simulation results show that the generated path for two cases
studies with certain differences in environmental conditions and
other risk factors differ considerably.
Abstract: This paper presents design features of a rescue robot, named CEO Mission II. Its body is designed to be the track wheel type with double front flippers for climbing over the collapse and the rough terrain. With 125 cm. long, 5-joint mechanical arm installed on the robot body, it is deployed not only for surveillance from the top view but also easier and faster access to the victims to get their vital signs. Two cameras and sensors for searching vital signs are set up at the tip of the multi-joint mechanical arm. The third camera is at the back of the robot for driving control. Hardware and software of the system, which controls and monitors the rescue robot, are explained. The control system is used for controlling the robot locomotion, the 5-joint mechanical arm, and for turning on/off devices. The monitoring system gathers all information from 7 distance sensors, IR temperature sensors, 3 CCD cameras, voice sensor, robot wheels encoders, yawn/pitch/roll angle sensors, laser range finder and 8 spare A/D inputs. All sensors and controlling data are communicated with a remote control station via IEEE 802.11b Wi-Fi. The audio and video data are compressed and sent via another IEEE 802.11g Wi-Fi transmitter for getting real-time response. At remote control station site, the robot locomotion and the mechanical arm are controlled by joystick. Moreover, the user-friendly GUI control program is developed based on the clicking and dragging method to easily control the movement of the arm. Robot traveling map is plotted from computing the information of wheel encoders and the yawn/pitch data. 2D Obstacle map is plotted from data of the laser range finder. The concept and design of this robot can be adapted to suit many other applications. As the Best Technique awardee from Thailand Rescue Robot Championship 2006, all testing results are satisfied.
Abstract: Bicycle configuration is not as large as those of motorcycles or automobiles, while it indeed composes a complicated dynamic system. People-s requirements on comfortability, controllability and safety grow higher as the research and development technologies improve. The shock absorber affects the vehicle suspension performances enormously. The absorber takes the vibration energy and releases it at a suitable time, keeping the wheel under a proper contact condition with road surface, maintaining the vehicle chassis stability. Suspension design for mountain bicycles is more difficult than that of city bikes since it encounters dynamic variations on road and loading conditions. Riders need a stiff damper as they exert to tread on the pedals when climbing, while a soft damper when they descend downhill. Various switchable shock absorbers are proposed in markets, however riders have to manually switch them among soft, hard and lock positions. This study proposes a novel design of the bicycle shock absorber, which provides automatic smooth tuning of the damping coefficient, from a predetermined lower bound to theoretically unlimited. An automatic quick releasing valve is involved in this design so that it can release the peak pressure when the suspension fork runs into a square-wave type obstacle and prevent the chassis from damage, avoiding the rider skeleton from injury. This design achieves the automatic tuning process by innovative plunger valve and fluidic passage arrangements without any electronic devices. Theoretical modelling of the damper and spring are established in this study. Design parameters of the valves and fluidic passages are determined. Relations between design parameters and shock absorber performances are discussed in this paper. The analytical results give directions to the shock absorber manufacture.
Abstract: The main purpose of this research was to analyze Socio-Cultural obstacles of disseminating of nanotechnology in Iran's agricultural section. One hundred twenty eight out of a total of 190 researchers with different levels of expertise in and familiarity with nanotechnology were randomly selected and questionnaires completed by them. Face validity have been done by expert's suggestion and correction, reliability by using Cronbakh-Alpha formula. The results of a factor analysis showed variation for different factors. For cultural factors 19/475 percent, for management 13/139 percent, information factor 11/277 percent, production factor 9/703 percent, social factor 9/267 percent, and for attitude factor it became 8/947 percent. Also results indicated that socio-cultural factors were the most important obstacle for nanotechnology dissemination in agricultural section in Iran.
Abstract: Seaweed farming is emerging as a viable alternative
activity in the Indonesian fisheries sector. This paper aims to
investigate people-s perceptions of seaweed farming, to analyze its
social and economic impacts and to identify the problems and
obstacles hindering its continued development. Structured and
semi-structured questionnaires were prepared to obtain qualitative
data, and interviews were conducted with fishermen who also plant
seaweed. The findings showed that fishermen in the Laikang Bay were
enthusiastic about cultivating seaweeds and that seaweed plays a major
role in supporting the household economy of fishermen. However,
current seaweed drying technologies cannot support increased
seaweed production on a farm or plot, especially in the rainy season.
Additionally, variable monsoon seasons and long marketing channels
are still major constraints on the development of the industry. Finally,
capture fisheries, the primary economic livelihood of fishermen of
older generations, is being slowly replaced by seaweed farming.
Abstract: Ventricular fibrillation is a very important health
problem as is the cause of most of the sudden deaths in the world.
Waves of electrical activity are sent by the SA node, propagate
through the cardiac tissue and activate the mechanisms of cell
contraction, and therefore are responsible to pump blood to the body
harmonically. A spiral wave is an abnormal auto sustainable wave
that is responsible of certain types of arrhythmias. When these waves
break up, give rise to the fibrillation regime, in which there is a
complete loss in the coordination of the contraction of the heart
muscle. Interaction of spiral waves and obstacles is also of great
importance as it is believed that the attachment of a spiral wave to an
obstacle can provide with a transition of two different arrhythmias.
An obstacle can be partially excitable or non excitable. In this talk,
we present a numerical study of the interaction of meandering spiral
waves with partially and non excitable obstacles and focus on the
problem where the obstacle plays a fundamental role in the switch
between different spiral regimes, which represent different
arrhythmic regimes. Particularly, we study the phenomenon of
destabilization of spiral waves due to the presence of obstacles, a
phenomenon not completely understood (This work will appear as a
Chapter in a Book named Cardiac Arrhytmias by INTECH under the
name "Spiral Waves, Obstacles and Cardiac Arrhythmias", ISBN
979-953-307-050-5.).
Abstract: LDPC codes could be used in magnetic storage devices because of their better decoding performance compared to other error correction codes. However, their hardware implementation results in large and complex decoders. This one of the main obstacles the decoders to be incorporated in magnetic storage devices. We construct small high girth and rate 2 columnweight codes from cage graphs. Though these codes have low performance compared to higher column weight codes, they are easier to implement. The ease of implementation makes them more suitable for applications such as magnetic recording. Cages are the smallest known regular distance graphs, which give us the smallest known column-weight 2 codes given the size, girth and rate of the code.
Abstract: This paper considers the autonomous navigation
problem of multiple n-link nonholonomic mobile manipulators within
an obstacle-ridden environment. We present a set of nonlinear
acceleration controllers, derived from the Lyapunov-based control
scheme, which generates collision-free trajectories of the mobile
manipulators from initial configurations to final configurations in a
constrained environment cluttered with stationary solid objects of
different shapes and sizes. We demonstrate the efficiency of the
control scheme and the resulting acceleration controllers of the
mobile manipulators with results through computer simulations of an
interesting scenario.
Abstract: The paradigm of mobile agent provides a promising technology for the development of distributed and open applications. However, one of the main obstacles to widespread adoption of the mobile agent paradigm seems to be security. This paper treats the security of the mobile agent against malicious host attacks. It describes generic mobile agent protection architecture. The proposed approach is based on the dynamic adaptability and adopts the reflexivity as a model of conception and implantation. In order to protect it against behaviour analysis attempts, the suggested approach supplies the mobile agent with a flexibility faculty allowing it to present an unexpected behaviour. Furthermore, some classical protective mechanisms are used to reinforce the level of security.
Abstract: In this paper, we present a novel approach to location
system under indoor environment. The key idea of our work is
accurate distance estimation with cricket-based location system using
A* algorithm. We also use magnetic sensor for detecting obstacles in
indoor environment. Finally, we suggest how this system can be used
in various applications such as asset tracking and monitoring.
Abstract: Thai language is difficult in all four language skills,
especially reading. The first year students may have different abilities
in reading, so a teacher is required to find out a student’s reading
level so that the teacher can help and support them till they can
develop and resolve each problem themselves. This research is aimed
to study the prosody problem among Thai students and will be
focused on first year Thai students in the second semester. A total of
58 students were involved in this study. Four obstacles were found:
1. Interpretation from what they read and write
2. Incorrectness Pronunciation of Prosody
3. Incorrectness in Rhythm of the Poem
4. Incorrectness of the Thai Poem Pronunciation
Abstract: The continued interest in the use of distributed generation in recent years is leading to the growth in number of distributed generators connected to distribution networks. Steady state voltage rise resulting from the connection of these generators can be a major obstacle to their connection at lower voltage levels. The present electric distribution network is designed to keep the customer voltage within tolerance limit. This may require a reduction in connectable generation capacity, under utilization of appropriate generation sites. Thus distribution network operators need a proper voltage regulation method to allow the significant integration of distributed generation systems to existing network. In this work a voltage rise problem in a typical distribution system has been studied. A method for voltage regulation of distribution system with multiple DG system by coordinated operation distributed generator, capacitor and OLTC has been developed. A sensitivity based analysis has been carried out to determine the priority for individual generators in multiple DG environment. The effectiveness of the developed method has been evaluated under various cases through simulation results.
Abstract: This study is purely qualitative. The objectives of this study can be identified as two main factors: traditionally explanation and economically studying. The study of weddings, both in traditional beauty and the aggressively strong competitive in the wedding business market has limited population of the study only Thailand internal wedding consumers. Focus group with the new marriage couple and in-depth interview with fully experiences wedding businessman were used. Traditionally, Thai weddings are very various; therefore, the recent patterns were briefly concluded to be processes of traditional Thai wedding will be revealed and explained then give more details in the formal procedures. Economically, weddings business are related to many types of businesses from catering business, hospitality and tourism business, pre-wedding photography, and the complete full-serviced wedding organizer for examples. The situations, changes and obstacles of the wedding related business will be discussed.
Abstract: This paper deals with the development and obstacles of
Korean women-s political participation in recent years. Since the year
1948 after the declaration of a modern state, Korea has tried to
establish the democracy but still in the field of women-s political
participation it meets a lot of problems such as women-s political
consciousness, male dominated political culture and institutional
constraints. After the introduction of quota system in the list of
political party, women-s political participation began to change its
configuration. More women candidates have willingly presented at
elections.
Abstract: In this paper, a Cooperative Multi-robot for Carrying
Targets (CMCT) algorithm is proposed. The multi-robot team
consists of three robots, one is a supervisor and the others are
workers for carrying boxes in a store of 100×100 m2. Each robot has
a self recharging mechanism. The CMCT minimizes robot-s worked
time for carrying many boxes during day by working in parallel. That
is, the supervisor detects the required variables in the same time
another robots work with previous variables. It works with
straightforward mechanical models by using simple cosine laws. It
detects the robot-s shortest path for reaching the target position
avoiding obstacles by using a proposed CMCT path planning
(CMCT-PP) algorithm. It prevents the collision between robots
during moving. The robots interact in an ad hoc wireless network.
Simulation results show that the proposed system that consists of
CMCT algorithm and its accomplished CMCT-PP algorithm
achieves a high improvement in time and distance while performing
the required tasks over the already existed algorithms.
Abstract: Electronic Government is one of the special concepts
which has been performed successfully within recent decades.
Electronic government is a digital, wall-free government with a
virtual organization for presenting of online governmental services
and further cooperation in different political/social activities. In order
to have a successful implementation of electronic government
strategy and benefiting from its complete potential and benefits and
generally for establishment and applying of electronic government, it
is necessary to have different infrastructures as the basics of
electronic government with lack of which it is impossible to benefit
from mentioned services. For this purpose, in this paper we have
managed to recognize relevant obstacles for establishment of
electronic government in Iran. All required data for recognition of
obstacles were collected from statistical society of involved
specialists of Ministry of Communications & Information
Technology of Iran and Information Technology Organization of
Tehran Municipality through questionnaire. Then by considering of
five-point Likert scope and μ =3 as the index of relevant factors of
proposed model, we could specify current obstacles against
electronic government in Iran along with some guidelines and
proposal in this regard. According to the results, mentioned obstacles
for applying of electronic government in Iran are as follows:
Technical & technological problems, Legal, judicial & safety
problems, Economic problems and Humanistic Problems.
Abstract: The usage of internet is rapidly increasing and the usage of mobile agent technology in internet environment has a great demand. The security issue one of main obstacles that restrict the mobile agent technology to spread. This paper proposes Secure-Image Mechanism (SIM) as a new mechanism to protect mobile agents against malicious hosts. . SIM aims to protect mobile agent by using the symmetric encryption and hash function in cryptography science. This mechanism can prevent the eavesdropping and alteration attacks. It assists the mobile agents to continue their journey normally incase attacks occurred.
Abstract: This paper applies fuzzy AHP to evaluate the service
quality of online auction. Service quality is a composition of various
criteria. Among them many intangible attributes are difficult to
measure. This characteristic introduces the obstacles for respondents
on reply in the survey. So as to overcome this problem, we invite
fuzzy set theory into the measurement of performance and use AHP in
obtaining criteria. We found the most concerned dimension of service
quality is Transaction Safety Mechanism and the least is Charge Item.
Other criteria such as information security, accuracy and information
are too vital.
Abstract: Electric vehicles are considered as technology which
can significantly reduce the problems related to road transport such
as increasing GHG emissions, air pollutions and energy import
dependency.
The core objective of this paper is to analyze the current energetic,
ecological and economic characteristics of different types of electric
vehicles.
The major conclusions of this analysis are: The high investments
cost are the major barrier for broad market breakthrough of battery
electric vehicles and fuel cell vehicles. For battery electric vehicles
also the limited driving range states a key obstacle. The analyzed
hybrids could in principle serve as a bridging technology. However,
due to their tank-to-wheel emissions they cannot state a proper
solution for urban areas.
Finally, the most important perception is that also battery electric
vehicles and fuel cell vehicles are environmentally benign solution if
the primary fuel source is renewable.
Abstract: This paper presents a new classification algorithm using colour and texture for obstacle detection. Colour information is computationally cheap to learn and process. However in many cases, colour alone does not provide enough information for classification. Texture information can improve classification performance but usually comes at an expensive cost. Our algorithm uses both colour and texture features but texture is only needed when colour is unreliable. During the training stage, texture features are learned specifically to improve the performance of a colour classifier. The algorithm learns a set of simple texture features and only the most effective features are used in the classification stage. Therefore our algorithm has a very good classification rate while is still fast enough to run on a limited computer platform. The proposed algorithm was tested with a challenging outdoor image set. Test result shows the algorithm achieves a much better trade-off between classification performance and efficiency than a typical colour classifier.